考虑关节间隙的柔性机械臂动力学模型及特性分析

徐向阳; 广永川; 杨宝军; 梁栋; 陈仁祥

doi:10.7652/xjtuxb202308014

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考虑关节间隙的柔性机械臂动力学模型及特性分析

智能制造 | 更新时间：2025-05-08

- 考虑关节间隙的柔性机械臂动力学模型及特性分析
- Dynamic Model and Characteristic Analysis of Flexible Manipulator Considering Joint Clearance
- 西安交通大学学报 2023年57卷第8期页码：138-147
- 作者机构：
  
  1. 重庆交通大学机电与车辆工程学院,重庆,400074
  2. 重庆华数机器人有限公司,重庆,400714
- 作者简介：
  
  : 2022-11-20。作者简介: 徐向阳(1981—),男,教授。基金项目: 重庆市杰出青年科学基金资助项目(cstc2021jcyj-jqX0010)
- 基金信息：
  
  : 2022-11-20。作者简介: 徐向阳(1981—),男,教授。基金项目: 重庆市杰出青年科学基金资助项目(cstc2021jcyj-jqX0010);重庆市技术创新与应用发展专项资助项目(CSTB2022TIAD-KPX0078);重庆市教委科学研究重点项目(KJZD-K202000703)。
- DOI：10.7652/xjtuxb202308014
  中图分类号： TH113
- 网络首发：2023-08-10，
  
  纸质出版：2023
- 稿件说明：
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徐向阳, 广永川, 杨宝军, 等. 考虑关节间隙的柔性机械臂动力学模型及特性分析[J]. 西安交通大学学报, 2023,57(8):138-147.

XU Xiangyang, GUANG Yongchuan, YANG Baojun, et al. Dynamic Model and Characteristic Analysis of Flexible Manipulator Considering Joint Clearance[J]. 2023, 57(8): 138-147.
徐向阳, 广永川, 杨宝军, 等. 考虑关节间隙的柔性机械臂动力学模型及特性分析[J]. 西安交通大学学报, 2023,57(8):138-147. DOI： 10.7652/xjtuxb202308014.

XU Xiangyang, GUANG Yongchuan, YANG Baojun, et al. Dynamic Model and Characteristic Analysis of Flexible Manipulator Considering Joint Clearance[J]. 2023, 57(8): 138-147. DOI： 10.7652/xjtuxb202308014.

摘要

为探究关节间隙对柔性机械臂动力学特性的影响

以柔性机械臂为研究对象建立了考虑关节间隙和臂杆柔性的耦合动力学模型并进行动态特性分析。首先

采用接触力碰撞模型和摩擦力改进计算模型

对关节间隙进行表征; 其次

采用假设模态法

构建考虑平面转动关节间隙的柔性机械臂动力学分析模型

并基于拉格朗日法推导了其耦合动力学方程; 最后

分析了间隙值和弹性模量参数对柔性机械臂系统动力学特性的影响。仿真实验结果表明:接触碰撞力随着关节间隙值的增大而增大

同时导致碰撞频率降低

使得机械臂末端平动加速度增大

运动波动频率降低; 当间隙值为0.1 mm时

接触碰撞力提高为无间隙下的17.76倍; 柔性臂杆可以减缓关节内部碰撞

降低碰撞力幅值达80%以上

但弹性模量减小会加剧机械臂末端加速度幅值。该分析结果可为机器人系统可靠性和稳定性的研究提供参考。

Abstract

To explore the influence of joint clearance on the dynamic characteristics of flexible manipulators

a coupled dynamic model considering joint clearance and arm flexibility is established and the dynamic characteristics are analyzed. Firstly

a contact force collision model and an improved friction calculation model are used to characterize the joint clearance. Secondly

a dynamic analysis model

with the planar rotational joint clearance considered

for flexible manipulators is constructed by using the assumed mode method

and the corresponding coupled dynamic equation is derived based on the Lagrange method. Finally

the influence of clearance value and elastic modulus parameters on the dynamic characteristics of flexible manipulator systems is analyzed. The simulation results show that

as the joint clearance value increases

the contact collision force increases

while the collision frequency decreases

which makes the translational acceleration at the end of the manipulator increase and the motion fluctuation frequency decrease. When the clearance value is 0.1 mm

the contact impact force is increased to 17.76 times that without clearance. The flexible arm can alleviate the internal collision of the joint and decrease the amplitude of the collision force by more than 80%

but the reduction in the elastic modulus can escalate the acceleration amplitude at the end of the manipulator. The analysis results can provide reference for the research of reliability and stability of robot systems.

关键词

Keywords

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